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TCL looping

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Feb 11th, 2024
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  1. for {set jnum 0} {$jnum < $::KINS(JOINTS)} {incr jnum} {
  2. loadrt conv_s32_float names=conv.j${jnum}-pos-fb,conv.j${jnum}-vel-fb,conv.j${jnum}-torque-fb
  3. loadrt conv_s32_float names=conv.j${jnum}-drive-temperature,conv.j${jnum}-bus-voltage,conv.j${jnum}-bus-power
  4.  
  5. loadrt conv_float_s32 names=conv.j${jnum}-vel-cmd
  6.  
  7. loadrt mult2 names=mult2.j${jnum}-vel-cmd,mult2.j${jnum}-vel-fb,mult2.j${jnum}-pos-fb,mult2.j${jnum}-torque-fb
  8. loadrt mult2 names=mult2.j${jnum}-drive-temperature,mult2.j${jnum}-bus-voltage,mult2.j${jnum}-bus-power
  9.  
  10. loadrt pid names=pid.j${jnum}
  11. }
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